Trajectory cost function defined by state evaluation at parameter. More...
#include <roboptim/trajectory/state-function.hh>
Public Types | |
typedef T | trajectory_t |
Trajectory type. |
Public Member Functions | |
StateFunction (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1) throw () | |
Constructor. | |
virtual | ~StateFunction () throw () |
size_type | order () const throw () |
Static Public Member Functions | |
template<typename F , typename CLIST > | |
static void | addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints) |
Protected Member Functions | |
void | impl_compute (result_t &, const argument_t &) const throw () |
void | impl_gradient (gradient_t &, const argument_t &, size_type) const throw () |
Trajectory cost function defined by state evaluation at parameter.
The state along a trajectory is defined as the vector containing the configuration and derivatives up to order of the configuration.
where
T | trajectory type |
typedef T roboptim::StateFunction< T >::trajectory_t |
Trajectory type.
roboptim::StateFunction< T >::StateFunction | ( | const trajectory_t & | gamma, |
boost::shared_ptr< DerivableFunction > | cost, | ||
const StableTimePoint | tpt, | ||
size_type | order = 1 |
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) | throw () |
Constructor.
gamma | Trajectory ![]() |
cost | state cost: ![]() |
tpt | parameter ![]() |
order | order ![]() |
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virtual |
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inlinestatic |
References roboptim::tMax.
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protected |
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protected |
StateFunction< T >::size_type roboptim::StateFunction< T >::order | ( | ) | const throw () |